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- loadrt scale count=1
- addf scale.0 servo-thread
- setp scale.0.gain 0.00166
- net spindle-speed-scale spindle.0.speed-out => scale.0.in
- net spindle-speed-DAC scale.0.out => hm2_7i97.0.pwmgen.05.value
- setp pid.s.Pgain [SPINDLE_0]P
- setp pid.s.Igain [SPINDLE_0]I
- setp pid.s.Dgain [SPINDLE_0]D
- setp pid.s.bias [SPINDLE_0]BIAS
- setp pid.s.FF0 [SPINDLE_0]FF0
- setp pid.s.FF1 [SPINDLE_0]FF1
- setp pid.s.FF2 [SPINDLE_0]FF2
- setp pid.s.deadband [SPINDLE_0]DEADBAND
- setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
- setp pid.s.error-previous-target true
- # --- SPINDLE-ENABLE ---
- net spindle-enable => hm2_7i97.0.pwmgen.05.enable
- # --- SPINDLE-CW ---
- net spindle-cw => hm2_7i97.0.ssr.00.out-01
- # --- SPINDLE-CCW ---
- net spindle-ccw => hm2_7i97.0.ssr.00.out-02
- net spindle-index-enable => pid.s.index-enable
- net spindle-enable => pid.s.enable
- net spindle-vel-cmd-rpm => pid.s.command
- net spindle-vel-fb-rpm => pid.s.feedback
- net spindle-output <= pid.s.output
- # ---setup spindle control signals---
- net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
- net spindle-enable <= spindle.0.on
- net spindle-cw <= spindle.0.forward
- net spindle-ccw <= spindle.0.reverse
- net spindle-brake <= spindle.0.brake
- net spindle-revs => spindle.0.revs
- net spindle-at-speed => spindle.0.at-speed
- net spindle-vel-fb-rps => spindle.0.speed-in
- net spindle-index-enable <=> spindle.0.index-enable
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